Submodel-aware testing for cyber-physical systems

A test system for testing models of cyber-physical systems is developed by the Robotics and Mechatronics group. These cyber-physical systems have dedicated scenarios which specifies the system, the input signal and the expected result. The test system checks if the expected result is the same as the feedback given and gives a TRUE, FALSE or a SOMETIMES TRUE as answer. The test-system tests cyber-physical systems which are modelled in 20-sim or V-Rep.

The goal of this project is to expand the existing test system by adding test possibilities, among others the addition of the possibility to replace a sub-system. All the goals can be found in the next list, with its priorities in order of importance.

1. The possibility to substitute a sub-system with another sub-system.
2. The possibility to test a sub-system where a system with multiple sub-systems is supplied but only one sub-system needs to be tested.
3. The possibility to adjust the parameters of a subsystem in the system or the properties of the whole system.
4. The possibility to test a system where the different sub-systems must be simulated in different simulators, the co-simulation addition.

The first three goals can be implemented directly into the existing test system, this is to extend the test system. The first three goals will have an implementation in 20-sim, this is done because there is already a connection to 20-sim. The last goal is the implementation of co-simulation, with co-simulation sub-systems can be tested in different simulators.